Title :
Arbitrary path tracking control of articulated vehicles using nonlinear control theory
Author :
Sampei, Mitsuji ; Tamura, Takeshi ; Kobayashi, Tadaharu ; Shibui, Nobuhiro
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
fDate :
3/1/1995 12:00:00 AM
Abstract :
Designs a path tracking controller for an articulated vehicle (a semitrailer-like vehicle) using time scale transformation and exact linearization. The proposed controller allows articulated vehicles to follow arbitrary paths consisting of arcs and lines, while they are moving forward and/or backward. The experimental result of the 8-shaped path tracking control of the articulated vehicle moving backward is also presented
Keywords :
linearisation techniques; nonlinear control systems; road vehicles; tracking; 8-shaped path tracking control; arbitrary path tracking control; articulated vehicles; exact linearization; nonlinear control theory; semitrailer-like vehicle; time scale transformation; Control systems; Control theory; Feedback; Mobile robots; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Robot kinematics; Shape control; Vehicles;
Journal_Title :
Control Systems Technology, IEEE Transactions on
